<launch>
  <!-- convert point cloud to depth image for RTAB-map -->
  <node name="pc2depth" pkg="rtabmap_ros" type="pointcloud_to_depthimage" output="screen">
    <remap from="cloud" to="/tango/point_cloud" />
    <remap from="camera_info" to="/tango/camera/color_1/camera_info" />
    <remap from="image" to="pc2depth_image" />
    <remap from="image_raw" to="pc2depth_image_raw" />
    <param name="fixed_frame_id" value="start_of_service" />
    <param name="decimation" value="4" />
    <param name="fill_holes_size" value="3" />
  </node>

  <!-- launch RTAB-map node -->
  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
    <arg name="rtabmap_args" value="--delete_db_on_start --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --Rtabmap/DetectionRate 3 --Grid/CellSize 0.01" />
    <arg name="visual_odometry" value="false" />
    <arg name="odom_frame_id" value="start_of_service" />
    <arg name="frame_id" value="device" />
    <arg name="rgb_topic" value="/color_image_undistorted" />
    <arg name="depth_topic" value="/pc2depth_image" />
    <arg name="camera_info_topic" value="/tango/camera/color_1/camera_info" />
    <arg name="compressed" value="false" />
    <arg name="depth_image_transport" value="raw" />
    <arg name="approx_sync" value="false" />
  </include>
</launch>